Movable body apparatus, exposure apparatus and device manufacturing method

ABSTRACT

An exposure apparatus has a substrate holding member, a first supporting member, a second supporting member, and a driving system. The first supporting member supports the substrate holding member from below. The second supporting member supports the first supporting member from below such that the first supporting member and the second supporting member are capable of moving relative to each other. The driving system moves the substrate holding member, the first supporting member and the second supporting member. The driving system includes a first driving device and a second driving device, the first driving device moving the substrate holding member and the first supporting member in a direction along a predetermined axis, and the second driving device moving the second supporting member in the direction along the predetermined axis.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a division of U.S. patent application Ser. No.14/861,293 filed Sep. 22, 2015 (which is now U.S. Pat. No. 9,500,963,issued Nov. 22, 2016), which is a continuation of U.S. patentapplication Ser. No. 14/155,914 filed Jan. 15, 2014 (which is now U.S.Pat. No. 9,170,504, issued Oct. 27, 2015), which is a division of U.S.patent application Ser. No. 12/714,733 filed Mar. 1, 2010 (which is nowU.S. Pat. No. 8,659,746, issued Feb. 25, 2014), and claims priority toU.S. Provisional Application No. 61/157,415, filed on Mar. 4, 2009. Theprior applications, including the specifications, drawings and abstractsare incorporated herein by reference in their entireties.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to movable body apparatuses, exposureapparatuses and device manufacturing methods, and more particularly to amovable body apparatus equipped with a movable body that moves along apredetermined two-dimensional plane, an exposure apparatus equipped withthe movable body apparatus, and a device manufacturing method using theexposure apparatus.

Description of the Background Art

Conventionally, in a lithography process for manufacturing electrondevices (microdevices) such as liquid crystal display elements orsemiconductor devices (integrated circuits or the like), an exposureapparatus such as a projection exposure apparatus by a step-and-repeatmethod (a so-called stepper), or a projection exposure apparatus by astep-and-scan method (a so-called scanning stepper, which is also calleda scanner) is mainly used.

In recent years, however, a substrate subject to exposure in an exposureapparatus (especially, a glass plate subject to exposure in a liquidcrystal exposure apparatus) has tended to increasingly grow in size, andin the exposure apparatus as well, a size of a substrate table thatholds the substrate has increased, and position control of the substratebecomes difficult owing to the weight increase accompanying the sizeincrease. As the solution to solve such a problem, an exposure apparatushas been developed in which the empty-weight of a substrate table thatholds a substrate is supported by an empty-weight cancelling device(empty-weight canceller) made up of a columnar member (e.g. refer to PCTInternational Publication No. 2008/129762).

In this type of exposure apparatus, the empty-weight cancelling devicemoves integrally with the substrate table along the upper surface (guidesurface) of a surface plate that is a plate-shaped member formed by, forexample, stone. Further, since the guide surface of the surface plate isused to guide the substrate table along a two-dimensional plane withhigh accuracy, the guide surface is finished so as to have the very highflatness degree.

However, in order to drive a substrate, which has grown in size, with along stroke, it is necessary to increase the size of the surface platehaving the guide surface used when the empty-weight cancelling devicemoves, and therefore, the machining of the surface plate becomesdifficult. Further, when the surface plate grows in size, it becomesdifficult to carry (e.g. transport by a vehicle) the surface plate to aplace where an exposure apparatus is installed (e.g. a manufacturingplant of liquid crystal panels).

SUMMARY OF THE INVENTION

According to a first aspect of the present invention, there is provideda movable body apparatus, comprising: a plurality of surface plates eachof which has a guide surface parallel to a two-dimensional plane thatincludes a first axis and a second axis orthogonal to each other, andwhich are placed at a predetermined distance in a direction parallel tothe first axis; a first movable body that is movable along a planeparallel to the two-dimensional plane, above the plurality of surfaceplates; a first support member that supports an empty weight of thefirst movable body and moves within a plane parallel to thetwo-dimensional plane above the plurality of surface plates, togetherwith the first movable body; a second support member that supports thefirst support member such that the first support member is relativelymovable in the direction parallel to the first axis; and a plurality ofthird support members placed so as to correspond to the plurality ofsurface plates, respectively, which support the second support member ina state where the second support member is bridged over the plurality ofsurface plates.

With this apparatus, when the first support member, which moves togetherwith the first movable body above a plurality of the surface plates thatare placed at a predetermined distance in a direction parallel to thefirst axis, moves in the direction parallel to the first axis, the firstsupport member moves on the second support member that is supported by aplurality of the third support members placed so as to correspond to aplurality of the surface plates respectively. Since the second supportmember is placed so as to be bridged over (placed astride) a pluralityof the surface places via a plurality of the third support members, evenin the case when the first support member moves from above one of theadjacent surface plates to above the other, the first support member canbe guided along the two-dimensional plane with high accuracy.

According to a second aspect of the present invention, there is provideda first exposure apparatus to expose an object by irradiating the objectwith an energy beam, the apparatus comprising: the movable bodyapparatus of the present invention in which the object is held on thefirst movable body; and a patterning device that irradiates the objectmounted on the first movable body with the energy beam.

According to a third aspect of the present invention, there is provideda second exposure apparatus to expose an object by irradiating theobject with an energy beam, the apparatus comprising: a plurality ofsurface plates each of which has a guide surface parallel to atwo-dimensional plane that includes a first axis and a second axisorthogonal to each other, and which are placed at a predetermineddistance in a direction parallel to the first axis; a first stage thatis movable, while holding the object, along a plane parallel to thetwo-dimensional plane, above the plurality of surface plates; anempty-weight cancelling member that supports an empty weight of thefirst stage and moves within a plane parallel to the two-dimensionalplane above the plurality of surface plates, together with the firststage; a plate member that supports the empty-weight cancelling membersuch that the empty-weight cancelling member is relatively movable inthe direction parallel to the first axis; a plurality of support membersplaced so as to correspond to the plurality of surface plates,respectively, which support the plate member in a state where the platemember is bridged over the plurality of surface plates; and a patterningdevice that irradiates the object held on the first stage with theenergy beam.

With this apparatus, even in the case when the empty-weight cancellingmember moves from above one of the adjacent surface plates to above theother, the empty-weight cancelling member can be guided with highaccuracy along the two-dimensional plane. Accordingly, during exposure,the empty weight of the first stage that holds an object can besupported by the empty-weight cancelling member, and the empty-weightcancelling member can be guided along the two-dimensional plane, whichmakes it possible to drive the object held on the first stage in astable manner, and thereby exposure with high precision can beperformed.

According to a fourth aspect of the present invention, there is provideda device manufacturing method, comprising: exposing a substrate usingone of the first and second exposure apparatuses of the presentinvention; and developing the substrate that has been exposed.

In this case, there is provided a manufacturing method of manufacturinga flat-panel display as a device by using, as the substrate, a substratefor a flat-panel display. The substrate for a flat-panel displayincludes a film-like member or the like, besides a glass substrate orthe like.

BRIEF DESCRIPTION OF THE DRAWINGS

In the accompanying drawings;

FIG. 1 is a view showing a schematic configuration of a liquid crystalexposure apparatus of an embodiment;

FIG. 2 is a side view (partial cross-sectional view) of a substratestage equipped in the exposure apparatus when viewed from an X-axisdirection;

FIG. 3 is a side view (partial cross-sectional view) of the substratestage equipped in the exposure apparatus when viewed from a Y-axisdirection;

FIG. 4 is a plan view (No. 1) showing the substrate stage with partialomission;

FIG. 5 is a plan view (No. 2) showing the substrate stage with partialomission; and

FIGS. 6A to 6C are views used to explain an operation of the substratestage when a substrate is driven in a step direction (the Y-axisdirection).

DESCRIPTION OF THE EMBODIMENTS

An embodiment of the present invention is described below, withreference to FIGS. 1 to 6C.

FIG. 1 shows a schematic configuration of a liquid crystal exposureapparatus 10 related to the embodiment. Liquid crystal exposureapparatus 10 is a projection exposure apparatus by a step-and-scanmethod, i.e., a so-called scanner.

As shown in FIG. 1, liquid crystal exposure apparatus 10 includes anillumination system IOP, a mask stage MST that holds a mask M, aprojection optical system PL, a body BD on which mask stage MST,projection optical system PL and the like are mounted, a substrate stagePST that holds a substrate P such that substrate P is movable along anXY plane, and their control system and the like. In the descriptionbelow, the explanation is given assuming that a direction in which maskM and substrate P are scanned relative to projection optical system PL,respectively, during exposure is an X-axis direction, a directionorthogonal to the X-axis direction within a horizontal plane is a Y-axisdirection, and a direction orthogonal to the X-axis and Y-axisdirections is a Z-axis direction, and rotational (tilt) directionsaround the X-axis, Y-axis and Z-axis are θx, θy and θz directions,respectively.

Illumination system IOP is configured similar to the illumination systemthat is disclosed in, for example, U.S. Pat. No. 6,552,775 and the like.More specifically, illumination system IOP irradiates mask M with alight emitted from a mercury lamp (not illustrated), as an illuminationlight for exposure (illumination light) IL, via optical elements such asa reflection mirror, a dichroic mirror, a shutter, a wavelengthselecting filter and various types of lenses, which are not illustrated.As illumination light IL, for example, a light such as an i-line (with awavelength of 365 nm), a g-line (with a wavelength of 436 nm) or anh-line (with a wavelength of 405 nm) (or a synthetic light of thei-line, the g-line and the h-line described above) is used. Further, thewavelength of illumination light IL can be appropriately switched by thewavelength selecting filter according to the required resolution.

On mask stage MST, mask M having a pattern surface (the lower surface inFIG. 1) on which a circuit pattern and the like are formed is fixed by,for example, vacuum suction. Mask stage MST is supported in a noncontactmanner via, for example, air pads that are not illustrated, above a pairof mask stage guides 35 with the X-axis direction serving as theirlongitudinal directions that are integrally fixed to the upper surfaceof a barrel surface plate 31 that is a part of body BD to be describedlater on. Mask stage MST is driven in a scanning direction (the X-axisdirection) with a predetermined stroke and also is finely driven in theY-axis direction and the θz direction, above a pair of mask stage guides35, by a mask stage driving system (not illustrated) that includes, forexample, a liner motor.

Positional information (including rotational information in the θzdirection) of mask stage MST within the XY plane is constantly detectedat a resolution of, for example, around 0.5 to 1 nm with a mask laserinterferometer (hereinafter, referred to as a “mask interferometer”) 91,via a reflection surface fixed (or formed) on mask stage MST. Themeasurement values of mask interferometer 91 are sent to a controllerthat is not illustrated, and the controller controls the position (andthe speed) of mask stage MST in the X-axis direction, the Y-axisdirection and the θz direction via the mask stage driving system, basedon the measurement values of mask interferometer 91.

Projection optical system PL is supported below mask stage MST in FIG.1, by barrel surface plate 31. Projection optical system PL in theembodiment has a configuration similar to the projection optical systemdisclosed in, for example, U.S. Pat. No. 6,552,775. More specifically,projection optical system PL includes a plurality of projection opticalsystems (multi-lens projection optical systems) whose projection areas,where a pattern image of mask M is projected, are placed in a zigzagshape, and functions equivalently to a projection optical system thathas a single image field with a rectangular shape whose longitudinaldirection is in the Y-axis direction. In the embodiment, as each of theplurality of projection optical systems, for example, a projectionoptical system that is a both-side telecentric equal-magnificationsystem that forms an erected normal image is used. In the descriptionbelow, a plurality of projection areas placed in a zigzag shape ofprojection optical system PL are also referred to as an exposure area asa whole.

Therefore, when an illumination area on mask M is illuminated withillumination light IL from illumination system IOP, by illuminationlight IL that has passed through mask M whose pattern surface is placedsubstantially coincident with the first plane (object plane) ofprojection optical system PL, a projected image (partial erected image)of a circuit pattern of mask M within the illumination area is formed onan irradiation area (exposure area) of illumination light IL, which isconjugate to the illumination area, on substrate P which is placed onthe second plane (image plane) side of projection optical system PL andwhose surface is coated with a resist (sensitive agent), via projectionoptical system PL. Then, by moving mask M relative to the illuminationarea (illumination light IL) in the scanning direction (X-axisdirection) and also moving substrate P relative to the exposure area(illumination light IL) in the scanning direction (X-axis direction) bysynchronous drive of mask stage MST and substrate stage PST, scanningexposure of one shot area (divided area) on substrate P is performed,and a pattern of mask M is transferred onto the shot area. Morespecifically, in the embodiment, a pattern of mask M is generated onsubstrate P by illumination system IOP and projection optical system PL,and the pattern is formed on substrate P by exposure of a sensitivelayer (resist layer) on substrate P with illumination light IL.

Body BD includes a pair of substrate stage mountings 33 (see FIG. 3) andbarrel surface plate 31 that is horizontally supported via a pair ofsupport members 32 installed on a pair of substrate stage mountings 33,as disclosed in, for example, U.S. Patent Application Publication No.2008/0030702 and the like. As can be seen from FIGS. 1 and 3, a pair ofsubstrate stage mountings 33 are each made up of a member with theY-axis direction serving as its longitudinal direction, and are placedat a predetermined distance in the X-axis direction. Each substratestage mounting 33 has both ends in the longitudinal direction that aresupported by a vibration isolating mechanism 34 installed on a floorsurface F, and is separated from floor surface F in terms of vibration.

As shown in FIG. 1, substrate stage PST is equipped with a plurality(e.g. three, in the embodiment) of base frames 14A, 14B and 14C placedon floor surface F, a pair of surface plates 12A and 12B installed on apair of substrate stage mountings 33, an X coarse movement stage 23Xthat is driven in the X-axis direction above the three base frames 14Ato 14C, a Y coarse movement stage 23Y that is driven in the Y-axisdirection on X coarse movement stage 23X and configures, together with Xcoarse movement stage 23X, an XY two-dimensional stage device, a finemovement stage 21 placed on the +Z side of (above) Y coarse movementstage 23Y, and an empty-weight cancelling device 40 that moves withinthe XY plane in conjunction with fine movement stage 21.

Base frames 14A to 14C are placed at a predetermined distance in theY-axis direction. As shown in FIG. 4, each of base frames 14A to 14C isequipped with a guide section 15 that is a stringer-like member arrangedextending in the X-axis direction, and a pair of leg sections 16 thatsupport both ends of guide section 15 on floor surface F. Each guidesection 15 has a rectangular YZ section that is elongated in the Z-axisdirection. Base frames 14A to 14C and substrate stage mountings 33 (seeFIG. 1) are mechanically non-connected (in noncontact). Incidentally,while both ends of guide section 15 are supported by a pair of legsections 16 in the embodiment, an intermediate portion (which may be ata plurality of positions) in the longitudinal direction of guide section15 can also be supported by a similar leg section, along with thesupport of the both ends.

A pair of surface plates 12A and 12B are fixed to the upper surfaces ofa pair of substrate stage mountings 33. Each of surface plates 12A and12B is a plate-shaped member having a rectangular shape in a planar viewthat is formed by, for example, stone and has its longitudinal directionin the X-axis direction, and surface plates 12A and 12B are placed at apredetermined distance in the Y-axis direction. Surface plate 12A isplaced between base frame 14A and base frame 14B, and surface plate 12Bis placed between base frame 14B and base frame 14C. The upper surfaceof each of surface plates 12A and 12B is finished so as to have a veryhigh flatness degree.

As shown in FIG. 4, X coarse movement stage 23X is equipped with Y beammembers 25 that are a pair of stringer-like members placed, with theY-axis direction serving as their longitudinal directions, at apredetermined distance in the X-axis direction and a pair of connectingmembers 26 that respectively connect both ends of a pair of Y beammembers 25 in the longitudinal direction, and X coarse movement stage23X is formed so as to have a rectangular frame shape in a planar view.While the lower surfaces of Y beam members 25 and the lower surfaces ofconnecting members 26 are placed coplanar, the upper surfaces ofconnecting members 26 are placed at a position lower than (on the −Zside of) the upper surfaces of Y beam members 25 (see FIG. 2).

As shown in FIG. 2, one of a pair of connecting members 26 (on the −Yside) is supported by base frame 14A and the other (on the +Y side) issupported by base frame 14C. On the bottom surface of each of a pair ofconnecting members 26, an X mover 29, which is formed so as to have aninverse U-like sectional shape, is fixed. Between a pair of opposedsurfaces, which are opposed to each other, of X mover 29 fixed toconnecting member 26 on the −Y side, guide section 15 (see FIG. 4) ofbase frame 14A is inserted. And, between a pair of opposed surfaces,which are opposed to each other, of X mover 29 fixed to connectingmember 26 on the +Y side, guide section 15 (see FIG. 4) of base frame14C is inserted. Each X mover 29 is equipped with a coil unit 29 a,which includes a plurality of coils, on a pair of opposed surfaces.Meanwhile, on both side surfaces of each guide section 15, a magneticunit 15 a that includes a plurality of permanent magnets disposed at apredetermined distance in the X-axis direction is fixed (theillustration is omitted in FIG. 4). Magnetic unit 15 a configures,together with coil unit 29 a of X mover 29, an X linear motor by theLorentz force drive method that drives X coarse movement stage 23X inthe X-axis direction. Further, on each of the both side surfaces and theupper surface of each guide section 15, an X guide 15 b arrangedextending in the X-axis direction is fixed (the illustration is omittedin FIG. 4). Meanwhile, a plurality of slide sections 29 b each having aninverse U-like sectional shape, which include a plurality of bearings(not illustrated), and each mechanically engage with each X guide 15 bin a slidable state with respect to each X guide 15 b, are placed oneach X mover 29.

On the lower surface of the center portion, in the longitudinaldirection, of each of a pair of Y beam members 25, a slide section 27 isfixed that has, at its lower end, a member having a U-like sectionalshape that mechanically engages with an X guide 17 fixed to base frame14B in a slidable state with respect to X guide 17. On the upper surfaceof each of a pair of Y beam members 25, a Y guide 28 arranged extendingin the Y-axis direction is fixed.

Y coarse movement stage 23Y is composed of a plate-shaped (orbox-shaped) member having a roughly square shape in a planar view, andas shown in FIG. 2, has an opening section 23Ya in the center portionthat penetrates in the Z-axis direction. At four corner portions on thelower surface of Y coarse movement stage 23Y, a slide section 30 havingan inverse U-like sectional shape is fixed, which includes a pluralityof bearings (not illustrated) and is mechanically engaged on Y guide 28fixed on Y beam member 25 described above in a slidable state withrespect to Y guide 28 (see FIG. 4). Incidentally, although theillustration is omitted in the drawings, on the upper surface of each Ybeam member 25, for example, a magnetic unit including a plurality ofmagnets is arranged extending parallel to Y guide 28, and on the lowersurface of Y coarse movement 23Y, a coil unit including a plurality ofcoils is placed. The magnetic unit on each Y beam member 25 and the coilunit of Y coarse movement stage 23Y, which corresponds to the magneticunit, configure a Y linear motor by the Lorentz force drive method thatdrives Y coarse movement stage 23Y in the Y-axis direction.Incidentally, the drive method (the actuator) of the X coarse movementstage and the Y coarse movement stage is not limited to the liner motorbut can be a ball screw drive or a belt drive.

As shown in FIG. 2, to the end on the +Y side of the upper surface of Ycoarse movement stage 23Y, a plurality, e.g., three of Y stators 53Yplaced at a predetermined distance in the X-axis direction (overlappingin a direction in the depth of the drawing in FIG. 2) are fixed via acolumnar support member 56 a arranged extending in the Z-axis direction.Further, as shown in FIG. 3, to the end on the +X side of the uppersurface of Y coarse movement stage 23Y, a plurality, e.g., three of Xstators 53X placed at a predetermined distance in the Y-axis direction(overlapping in a direction in the depth of the drawing in FIG. 3) arefixed via columnar support member 56 a arranged extending in the Z-axisdirection. Y stators 53Y and X stators 53X each have a coil unitincluding a plurality of coils (the illustration is omitted).

Further, as shown in FIGS. 2 and 3, at the four corner portions on theupper surface of Y coarse movement stage 23Y, a Z stator 53Z is fixedvia a support member 56 b. Incidentally, in order to prevent intricacyof the drawings, of the four Z stators 53Z, only Z stator 53Z on the −Yside and the +X side is shown in FIG. 2, only Z stator 53Z on the −Xside and the −Y side is shown in FIG. 3, and the illustration of theother two Z stators is omitted. Z stators 53Z each have a coil unitincluding a plurality of coils (the illustration is omitted).

Fine movement stage 21 is made up of a plate-shaped (or box-shaped)member having a roughly square shape in a planar view, and holdssubstrate P on its upper surface via a substrate holder PH. Substrateholder PH has, for example, at least a part of a vacuum suctionmechanism (or an electrostatic adsorption mechanism) that is notillustrated, and holds substrate P by suction on its upper surface.

As shown in FIGS. 2 and 3, on the side surface on the −Y side and on theside surface on the −X side of fine movement stage 21, movable mirrors(bar mirrors) 22Y and 22X are fixed via fixed members 24Y and 24X,respectively. The surface on the −X side of movable mirror 22X and thesurface on the −Y side of movable mirror 22Y are respectivelymirror-finished to serve as the reflection surfaces. Positionalinformation of fine movement stage 21 with the XY plane is constantlydetected at a resolution of, for example, 0.5 to 1 nm, by a laserinterferometer system 92 (see FIG. 1) that irradiates movable mirrors22X and 22Y with measurement beams. Incidentally, while laserinterferometer system 92 is actually equipped with an X laserinterferometer and a Y laser interferometer that correspond to X movablemirror 22X and Y movable mirror 22Y respectively, only the Y laserinterferometer is representatively illustrated in FIG. 1.

Further, as shown in FIG. 2, on the side surface on the +Y side of finemovement stage 21, a plurality, e.g., three of Y movers 51Y each havinga U-like sectional shape placed at a predetermined distance in theX-axis direction are fixed. Further, as shown in FIG. 3, on the sidesurface on the +X side of fine movement stage 21, a plurality, e.g.,three of X movers 51X each having a U-like sectional shape placed at apredetermined distance in the Y-axis direction are fixed. Each of Ymovers 51Y and X movers 51X has a magnetic unit including a plurality ofmagnets (the illustration is omitted) on a pair of opposed surfaces thatare opposed to each other. The three Y movers 51Y configure three Y-axisvoice coil motors 55Y (hereinafter, shortly referred to as Y-axis VCMs55Y) by the Lorentz force drive method, together with the three Ystators 53Y, respectively, and the three X movers 51X configure threeX-axis voice coil motors 55X (hereinafter, shortly referred to as X-axisVCMs 55X) by the Lorentz force drive method, together with the three Xstators 53X, respectively. The main controller, which is notillustrated, drives fine movement stage 21 in the θz direction, bycausing drive forces (thrusts) generated by X-axis VCMs 55X (or Y-axisVCMs 55Y), for example, on both ends from among the three X-axis VCMs55X (or Y-axis VCMs 55Y) to be different.

Further, at four corner portions on the lower surface of fine movementstage 21, a Z mover 51Z having an inverse U-like sectional shape isfixed. Incidentally, in order to prevent intricacy of the drawings, ofthe four Z movers 51Z, only Z mover 51Z on the −Y side and the +X sideis shown in FIG. 2, and only Z mover 51Z on the −X side and the −Y sideis shown in FIG. 3, and the illustration of the other two Z movers isomitted. Further, while Z movers 51Z are connected to fixed members 24Xand 24Y in FIGS. 2 and 3 for the sake of convenience of theillustration, Z movers 51Z are actually fixed to the lower surface offine movement stage 21. Z movers 51Z are each equipped with a magneticunit including a plurality of magnets (the illustration is omitted) on apair of opposed surfaces that are opposed to each other. The four Zmovers 51Z configure four Z-axis voice coil motors 55Z (hereinafter,shortly referred to as Z-axis VCMs 55Z) by the Lorentz force drivemethod, together with the four Z stators 53Z, respectively. The maincontroller, which is not illustrated, drives (vertically moves) finemovement stage 21 in the Z-axis direction by controlling the respectivethrusts of the four Z-axis VCMs 55Z to be the same. Further, the maincontroller drives fine movement stage 21 in the θx direction and the θydirection by controlling the thrusts of the respective Z-axis VCMs 55Zto be different. Incidentally, while the four Z-axis VCMs are placedcorresponding to the four corner portions of the fine movement stage inthe embodiment, this is not intended to be limiting, but Z-axis VCM 55Zshould generate the thrusts in the Z-axis direction from at least threenon-collinear points.

With the configuration as described above, substrate stage PST iscapable of driving (coarsely moving) substrate P with a long stroke inthe two axes (i.e. X-axis and Y-axis) directions, and also is capable ofdriving (finely moving) substrate P with a minute stroke in directionsof six degrees of freedom (the X-axis, Y-axis and Z-axis directions andthe θx, θy and θz directions). Incidentally, while each of the X-axisVCMs, the Y-axis VCMs and the Z-axis VCMs in the embodiment is the voicecoil motor by a moving magnet method in which the mover has the magneticunit, this is not intended to be limiting, and each of the X-axis VCMs,the Y-axis VCMs and the Z-axis VCMs can be a voice coil motor by amoving coil method in which a mover has a coil unit. Further, the drivemethod can be a drive method other than the Lorentz force drive method.Similarly, each of the linear motors equipped in exposure apparatus 10can be based on either of the moving magnet method or the moving coilmethod, and the drive method of each of the linear motors is not limitedto the Lorentz force drive method, but can be another drive method suchas a variable magnetoresistance method.

Empty-weight cancelling device 40 is a member that supports the emptyweight of a system including fine movement stage 21 (to be morespecific, a system composed of fine movement stage 21, substrate holderPH, movable mirrors 22X and 22Y, fixed members 24X and 24Y, and thelike), and as shown in FIG. 2, empty-weight cancelling device 40 isequipped with a device main body 60 that moves in conjunction with finemovement stage 21 and a follow and support device 70 that supportsdevice main body 60 above surface plates 12A and 125 and moves followingdevice main body 60.

Device main body 60 is made up of a columnar member arranged extendingin the Z-axis direction, and is inserted in through-hole 23Ya formed atY coarse movement stage 23Y. Device main body 60 includes a housing 61,an air spring 62 and a slide section 63. Device main body 60 is alsoreferred to as a central pillar.

Housing 61 is made up of a cylinder-like member having a bottom. A pairof Y arm-shaped members 64Y extending in the +Y direction and the −Ydirection respectively as shown in FIG. 2 and a pair of X arm-shapedmembers 64X extending in the +X direction and the −X directionrespectively as shown in FIG. 3 are fixed to the outer side of the upperend of the peripheral wall surface of housing 61 (hereinafter,generically, the four arm-shaped members are simply referred to asarm-shaped members 64). At the tip of each of the four arm-shapedmembers 64, a probe section 65 is placed. Meanwhile, on the lowersurface of fine movement stage 21, a target section 66 is placed so asto correspond to each of probe sections 65 described above. In theembodiment, capacitance sensors (hereinafter, referred to as Z sensors)that are capable of measuring a distance between probe sections 65 andtarget sections 66, i.e. the Z-position of fine movement stage 21 areconfigured including these probe sections 65 and target sections 66. Theoutputs of the Z sensors are supplied to the main controller that is notillustrated. The main controller controls the position of fine movementstage 21 in the Z-axis direction and the tilt quantity of fine movementstage 21 in each of the Ox direction and the θy direction, using themeasurement results of the four Z sensors. Incidentally, the number ofthe Z sensors is not limited to four but can be, for example, three asfar as the Z-position of fine movement stage 21 can be measured in atleast three non-collinear positions. Further, the Z sensor is notlimited to the capacitance sensor but can be a laser displacement gaugeby a CCD method or the like. Further, the positional relation betweenthe probe sections and the target sections that constitute the Z sensorscan be opposite to the above-described positional relation.

As shown in FIG. 2, housing 61 is connected to Y coarse movement stage23Y by a pair of flexures 67 placed on the +Y side and the −Y side ofhousing 61, respectively. Flexure 67 is equipped with a thin plateformed by, for example, steel, one end of which is connected to housing61 and the other end of which is connected to Y coarse movement stage23Y, via a ball joint. Accordingly, when Y coarse movement stage 23Y isdriven in the Y-axis direction on X coarse movement stage 23X, by the Ylinear motor described earlier (the illustration is omitted), housing 61is towed by Y coarse movement stage 23Y because of the tensile forceacting on the thin plate, and housing 61 moves integrally with Y coarsemovement stage 23Y in the Y-axis direction (the +Y direction and the −Ydirection). However, the position of housing 61 in the Z-axis directionand the θx, θy and θz directions is not restricted by Y coarse movementstage 23Y owing to the operation of the hinged joint of the ball joint.Further, flexures 67 connect device main body 60 and Y coarse movementstage 23Y within a plane that includes the gravity center position ofdevice main body 60 in the Z-axis direction. Accordingly, when devicemain body 60 is driven in the Y-axis direction, the moment in the Oxdirection (around the X-axis) can be suppressed from acting on devicemain body 60, and device main body 60 can stably be driven in the Y-axisdirection. Incidentally, to be exact, if the kinetic frictional forcebetween slide sections 68 and 76, which are described later on, isstrong, the position of the flexures should be shifted downward from thegravity center plane, taking the kinetic frictional force intoconsideration. Regarding the movement in the Y-axis direction, however,the moment can be received with a pair of the base pads (which spans awider range in the Y-axis direction compared with that in the X-axisdirection), and therefore device main body 60 can be driven in arelatively stable manner even if there is the influence of thefrictional force.

Air spring 62 is housed in the lowermost section within housing 61. Agas (e.g. air) is supplied from a gas supplying device, which is notillustrated, to air spring 62, and thereby the inside of air spring 62is set to be a positive pressure space whose pressure is higher comparedwith the outside. Device main body 60 reduces the burden on Z-axis VCs55Z by air spring 62 absorbing (cancelling) the empty weight of finemovement stage 21 and the like, in a state of supporting fine movementstage 21. Further, air spring 62 also functions as a Z-axis air actuatorthat drives fine movement stage 21 (i.e. substrate P) in the Z-axisdirection with a long stroke by the change of its inner pressure.Instead of air spring 62, a damper also serving as an actuator (e.g. ashock absorber corresponds thereto) that can absorb (cancel) the emptyweight of fine movement stage 21 in a state of supporting fine movementstage 21 and also drives fine movement stage 21 in the Z-axis directioncan be used. In this case, a spring by another method such as a bellowsmethod or a hydraulic method can be used.

Slide section 63 is a cylinder-like member housed inside housing 61. Onthe inner side of the peripheral wall of housing 61, a plurality of airpads that are not illustrated are attached and form a guide used whenslide section 63 moves in the Z-axis direction. On the upper surface ofslide section 63, a plurality of air pads, which are not illustrated,are placed and support a leveling device 57 by levitation.

Leveling device 57 includes a bearing section 58 and a ball 59. Bearingsection 58 is composed of a tabular member placed parallel to the XYplane, and its lower surface is opposed to the air pads (theillustration is omitted) placed on the upper surface of slide section63. On the upper surface of bearing section 58, a concave section havinga hemispherical shape is formed and the lower portion of ball 59 isslidably fitted into the concave section. Further, in the center of thelower surface of fine movement stage 21 as well, a concave sectionhaving a hemispherical shape is similarly formed, and the upper portionof ball 59 is slidably fitted into the concave section. Incidentally,ball 59 can be fixed to fine movement stage 21. Accordingly, finemovement stage 21 is capable of freely moving (oscillating) in the tiltdirections (the ex direction and the θy direction) with respect to slidesection 63. Incidentally, device main body 60 (including flexures 67) inthe embodiment is configured similar to the empty-weight cancellingmechanism that is disclosed in, for example, PCT InternationalPublication No. 2008/129762 (the corresponding U.S. Patent ApplicationPublication No. 2010/0018950) and the like. Further, instead of levelingdevice 57 described above, a mechanism can also be used, which allowsthe tilt of the fine movement stage by supporting atriangular-pyramid-shaped member with a plurality (e.g. three) of airpads, as disclosed in PCT International Publication No. 2008/129762described above.

As shown in FIG. 2, follow and support device 70 is formed into atabular shape with the Y-axis direction (i.e. the step direction)serving as its longitudinal direction, and includes a step board 71 thatsupports device main body 60 from below, a pair of base pads 72A and 72Bthat support step board 71 from below, and a gravity-center drivingdevice 73 placed between a pair of base pads 72A and 72B.

As shown in FIG. 4, step board 71 is placed in a rectangular openingsection that is formed by a pair of Y beam members 25 and a pair ofconnecting members 26 of X coarse movement stage 23X. The size of stepboard 71 in the longitudinal direction is set shorter than the distancebetween a pair of connecting members 26 (e.g. set to the length aroundthree quarters of the distance). Further, as shown in FIG. 2, step board71 is placed astride surface plates 12A and 12B via base pads 72A and72B.

As shown in FIG. 4, a stopper 74 is fixed to both ends in the Y-axisdirection of the upper surface of step board 71, respectively. Eachstopper 74 is made up of a pair of protrusion sections placed at apredetermined distance in the X-axis direction, and between the pair ofthe protrusion sections, a guide rope 75 stretched along the Y-axisdirection is inserted via a minute gap (see FIG. 3). Guide rope 75 isstretched between the upper surfaces of a pair of connecting members 26.Accordingly, rotation around the Z-axis (in the θz direction) of stepboard 71 is suppressed. Guide rope 75 is formed by, for example, a wirerope or the like.

On the upper surface of step board 71, a pair of Y guides 76 arearranged extending in the Y-axis direction, on the +X side and the −Xside with guide rope 75 in between. As shown in FIGS. 3 and 4, devicemain body 60 has a plurality (four in the embodiment) of slide sections68 each having an inverse U-like sectional shape that mechanicallyengage with a pair of Y guides 76 in a slidable state with respect to apair of Y guides 76, at four corner portions on the lower surface ofhousing 61, and device main body 60 relatively moves freely in theY-axis direction on step board 71 and moves integrally with step board71 in the X-axis direction. Further, as shown in FIG. 3, on the lowersurface of step board 71, a pair of Y guides 77 are arranged extendingin the Y-axis direction so as to correspond to a pair of Y guides 76respectively. Furthermore, in the center portion of the lower surface ofstep board 71, a magnetic unit 78 including a plurality of permanentmagnets, which are not illustrated, is arranged extending in the Y-axisdirection.

As shown in FIG. 4, on each of the side surfaces on the +X side and the−X side of step board 71, a pair of pulleys 79 a and 79 b that arefreely rotatable around axes parallel to the X-axis direction areattached. Drive ropes 80 a and Bob, each of which is formed by, forexample, a wire rope or the like, are wrapped around a pair of pulleys79 a and 79 b, respectively. As shown in FIG. 2, one end of drive rope80 a wrapped around pulley 79 a on the +Y side is fixed to connectingmember 26 on the +Y side of X coarse movement stage 23X, and the otherend is fixed to Y coarse movement stage 23Y via a support member 81 afixed to the end on the +Y side of the lower surface of Y coarsemovement stage 23Y. Meanwhile, one end of drive rope 80 b wrapped aroundpulley 79 b on the −Y side is fixed to connecting member 26 on the −Yside of X coarse movement stage 23X, and the other end is fixed to Ycoarse movement stage 23Y via a support member 81 b fixed to the end onthe −Y side of the lower surface of Y coarse movement stage 23Y. As thedrive rope, while a member that has flexibility and has little change inits longitudinal direction because of a tensile force is desirable, itsshape is not limited to a rope but can be formed into, for example, abelt shape.

Accordingly, when Y coarse movement stage 23Y is driven by the Y linearmotor described previously (the illustration is omitted) in the Y-axisdirection on X coarse movement stage 23X, step board 71 is towed by Ycoarse movement stage 23Y because of the tensile force acting on driverope 80 a or drive rope 80 b, and moves following Y coarse movementstage 23Y in the Y-axis direction. However, the movement distance ofstep board 71 in the Y-axis direction is half (one-half) the movementdistance of Y coarse movement stage 23Y in the Y-axis direction and thedrive speed is also half the drive speed of Y coarse movement stage 23Y,because pulleys 79 a and 79 b function as moving pulleys. Incidentally,if the step board can be driven so as to follow the Y coarse movementstage at around a half speed, then a mechanism to drive the step boardis not limited to the one described above, but for example, an actuatorsuch as a liner motor or a mechanism including a feed screw or the likecan also be used.

As shown in FIG. 2, a pair of base pads 72A and 72B are substantiallythe same members except that base pad 72A is placed on surface plate 12Aand base pad 72B is placed on surface plate 12B. A set of base pads 72Aand 72B are each equipped with a base section 82 formed into, forexample, a tabular shape having an octagonal shape in a planar view (seeFIG. 5) and a plurality, e.g., three of air pads 84 connected to thelower surface of base section 82 via ball joints 83. Air pads 84 form aclearance of, for example, around several μm between air pads 84 and theupper surface of surface plate 12A (or 12B) by blowing out thepressurized gas to the upper surface of surface plate 12A (or 12B). Morespecifically, air pads 84 function as static gas bearings that causebase section 82 to levitate above surface plate 12A (or 12B) by thestatic pressure of the gas. Incidentally, the number of air pads 84 isnot limited to three, but can be, for example, two if the two air padsare spaced apart in the X-axis direction. In the embodiment, since a setof base pads 72A and 72B are placed apart in the Y-axis direction, stepboard 71 can stably be supported even with the two air pads. Althoughbase pads 72A and 72B may contact with surface plate 12A (or surfaceplate 12B) depending on, for example, the required specifications of anexposure apparatus, a configuration in which base pads 72A and 72B arein noncontact with the surface plate using air pads 84 is employed, asan example, in the present embodiment so as to prevent the upper surfaceof surface plate 12A (or 12B) from being damaged owing to a frictionalforce, because exposure apparatus 10 of the embodiment is the apparatusfor manufacturing large flat-panel displays.

As shown in FIG. 5, on the upper surface of base section 82, aplurality, e.g., four of slide sections 85 each having a U-likesectional shape are fixed that mechanically engage with a pair of Yguides 77 fixed to the lower surface of step board 71, in a slidablestate with respect to a pair of Y guides 77. Accordingly, empty-weightcancelling device 40 (i.e. the system composed of device main body 60,step board 71 and a set of base pads 72A and 72B) is configured so as tointegrally move in the X-axis direction.

Further, as shown in FIG. 5, on the upper surface of base section 82 ofeach of a pair of base pads 72A and 72B, one each of coil unit 86including a plurality of coils (the illustration is omitted) is placed.Each coil unit 86 configures, together with magnetic unit 78 (see FIG.3) placed on step board 71, a Y linear motor that drives base pads 72Aand 72B in the Y-axis direction relative to step board 71. The electriccurrents supplied to the coils of coil unit 86 of one of the base pads,base pad 72A and the electric currents supplied to the coils of coilunit 86 of the other of the base pads, base pad 72B are independentlycontrolled by the main controller that is not illustrated. Accordingly,it is possible to change the support positions of a pair of base pads72A and 72B with respect to step board 71, independently from eachother.

As shown in FIG. 3, gravity-center driving device 73 is equipped with aslide section 87 that is a member having a U-like sectional shape, and apair of air pads 89 that are connected, via ball joints 88, to the tips(upper ends) of the opposed surfaces that are opposed to each other ofslide section 87.

On slide section 87, a coil unit 90 including a plurality of coils isplaced so as to be opposed to magnetic unit 78 fixed to the lowersurface of step board 71. Coil unit 90 configures, together withmagnetic unit 78, a Y linear motor that drives gravity-center drivingdevice 73 in the Y-axis direction relative to step board 71. Theelectric currents supplied to the coils of coil unit 90 are controlledby the main controller that is not illustrated.

On the +X side and the −X side of coil unit 90, a slide section 94having a U-like sectional shape is fixed that mechanically engages withY guide 77 placed on the lower surface of step board 71, in a slidablestate with respect to Y guide 77, so as to prevent gravity-centerdriving device 73 from falling because of the self weight. Accordingly,gravity-center driving device 73 and step board 71 integrally move inthe X-axis direction.

By blowing out the pressurized gas to a pad guide 25 a fixed to theinner side surface of each of a pair of Y beam members 25, each of apair of air pads 89 forms a clearance of, for example, around several μmbetween air pad 89 and the inner side surface of Y beam member 25.Accordingly, while gravity-center driving device 73 is placed in anoncontact state with respect to a pair of Y beam members 25 and ismovable in the Y-axis direction independently from Y beam members 25,gravity-center driving device 73 moves integrally with Y beam members 25in the X-axis direction by the static pressure of the gas blown out fromair pads 89.

In this case, the position in the Z-axis direction of the bearingsurface (gas supplying surface) of each of a pair of air pads 89 roughlycoincides with the position in the Z-axis direction of a gravity centerposition CG (see FIG. 2) of empty-weight cancelling device 40 (i.e. thesystem composed of device main body 60, step board 71 and a set of basepads 72A and 72B). Consequently, the drive force that operates whendriving empty-weight cancelling device 40 in the X-axis direction (scandirection) acts on empty-weight cancelling device 40 in the X-axisdirection within the plane including gravity center position CG.Accordingly, the moment in the θy direction (around the Y-axis) does notact on empty-weight cancelling device 40, which makes it possible tostably drive (drive at the gravity center) empty-weight cancellingdevice 40 in the X-axis direction.

Furthermore, the main controller, which is not illustrated, controls thepositions of a set of base pads 72A and 723 and gravity-center drivingdevice 73 according to the position of device main body 60 in the Y-axisdirection. In FIGS. 6A to 6C, the state is shown where base pads 72A and723 and gravity-center driving device 73 are driven in accordance withthe change in the position of device main body 60 in the Y-axisdirection.

In FIG. 6A, Y coarse movement stage 23Y is located on the most −Y sidein a range where Y coarse movement stage 23Y is movable in the Y-axisdirection on X coarse movement stage 23X. In the state shown in FIG. 6A,device main body 60 is located above the vicinity of the end on the −Yside of surface plate 12A, and the main controller, which is notillustrated, causes one of the base pads, base pad 72A placed on surfaceplate 12A to position below device main body 60 (so as to overlap withdevice main body 60 in the Z-axis direction). Further, the maincontroller causes the other of the base pads, base pad 72B placed onsurface plate 12B to position in the vicinity of the end on the −Y sideof surface plate 123. The size in the Y-axis direction of step board 71is set such that the end on the −Y side of step board 71 is supported bybase pad 72A and the end on the +Y side is supported by base pad 72B,respectively, in the state shown in FIG. 6A.

Next, for example, in the cases such as when a step operation isperformed during exposure, if Y coarse movement stage 23Y is driven inthe +Y direction on X coarse movement stage 23X, device main body 60moves in conjunction with Y coarse movement stage 23Y in the +Ydirection on step board 71, owing to the stiffness of the plate springsof flexures 67. Step board 71 is towed by drive rope 80 a and moves inthe +Y direction following device main body 60 (however, the movementstroke is almost half). Then, the main controller drives base pad 72A onsurface plate 12A by a movement distance in accordance with a movementdistance of Y coarse movement stage 23Y in the Y-axis direction.Accordingly, a state where base pad 72A is placed directly under devicemain body 60 is maintained at all times, while device main body 60 movesabove surface plate 12A. In this manner, since the position of base pad72A is controlled so as to constantly overlap with device main body 60in the Z-axis direction, the bending stress owing to the uneven loadingcan be suppressed from acting on step board 71. Therefore, step board 71can be reduced in thickness and weight.

Incidentally, as shown in FIG. 6B, when device main body 60 moves in the+Y direction in conjunction with Y coarse movement stage 23Y and islocated above base frame 14B (between surface plate 12A and surfaceplate 12B), the main controller causes base pad 72A to stop in thevicinity of the end on the +Y side of surface plate 12A. In this stateshown in FIG. 6B, since a set of base pads 72A and 723 are placed inproximity, the bending stress acting on the center portion of step board71 can be the minimum.

When Y coarse movement stage 23Y is further driven from the state shownin FIG. 6B, in the +Y direction as shown in FIG. 6C, step board 71 alsomoves further in the +Y direction following device main body 60.Further, the main controller drives base pad 72B in accordance with amovement distance of Y coarse movement stage 23Y in the Y-axis directionsuch that base pad 72B is constantly placed directly under device mainbody 60, while device main body 60 moves above surface plate 12B.Incidentally, when Y coarse movement stage 23Y is driven in the −Ydirection, which is opposite to the case shown in FIGS. 6A to 6C, stepboard 71 follows Y coarse movement stage 23Y and moves in the −Ydirection by a movement distance that is half a movement distance of Ycoarse movement stage 23Y, which is reverse to the above-described case,and the main controller controls base pad 72A or base pad 72B to beplaced directly under device main body 60 at all times (except for thestate shown in FIG. 6B).

On the other hand, for example, in the cases such as when an exposureoperation (scan operation) is performed, when X coarse movement stage23X is driven in the X-axis direction by the X liner motor, either oneof a set of air pads 89 (see FIG. 3) of gravity-center driving device 73is pressed against opposed Y beam guide 25. Accordingly, empty-weightcancelling device 40, which is composed of device main body 60, stepboard 71 and a set of base pads 72A and 72B that are mechanicallyconnected to each other, moves integrally with X coarse movement stage23X in the X-axis direction.

In this case, the main controller controls the position ofgravity-center driving device 73 such that gravity-center driving device73 follows the movement of gravity center position CG of empty-weightcancelling device 40, when device main body 60 moves in the Y-axisdirection (which includes the case when device main body 60 also movesin the X-axis direction). Explaining more particularly using FIGS. 6A to6C, gravity center position CG is located slightly on the −Y side fromthe center of step board 71 in the Y-axis direction, for example, in thestate shown in FIG. 6A. The main controller causes gravity-centerdriving device 73 to be located at the position corresponding to gravitycenter position CG, as shown in FIG. 6A. When X coarse movement stage23X is drive in the X-axis direction in this state, empty-weightcancelling device 40 is driven at the gravity center, in the X-axisdirection via air pads 89 (see FIG. 3). Further, as shown in FIG. 6B, ina state where device main body 60 is located on the center of the stepboard in the Y-axis direction, gravity center position CG is locateddirectly under device main body 60, and therefore, the main controllercontrols the position of gravity-center driving device 73 according tothe location of gravity center position CG.

More specifically, as shown in FIGS. 6A to 6C, while the location ofgravity center position CG of empty-weight cancelling device 40 changesin the Y-axis direction owing to the change in the relative positionalrelation between device main body 60, step board 71 and a set of basepads 72A and 72B, the main controller controls the position ofgravity-center driving device 73 in the Y-axis direction according tothe location change of gravity center position CG, and therefore, it ispossible to make the drive force in the X-axis direction act constantlyon gravity center position CG of empty-weight cancelling device 40.Accordingly, regardless of the relative positional relation betweendevice main body 60, step board 71 and a set of base pads 72A and 72B,the moment in the θz direction (around the Z-axis) does not act onempty-weight cancelling device 40, and empty-weight cancelling device 40can stably be driven at the gravity center, in the X-axis direction(which includes the case when empty-weight cancelling device 40 isdriven in the X-axis direction and the Y-axis direction simultaneously).Incidentally, in order to calculate the drive distance of gravity-centerdriving device 73, it is preferable that the variation of gravity centerposition CG of empty-weight cancelling device 40, in accordance with thedrive distance of fine movement stage 21 needed when substrate P isdriven in the Y-axis direction, is obtained in advance by experiment (orsimulation) or the like, and this data is converted into a table format(or a mathematical formula) and stored in a memory device, which is notillustrated, of the main controller. By referring to the table describedabove, the main controller can control the position of gravity-centerdriving device 73 with the drive distance in accordance with theposition or the movement distance (i.e. the variation of gravity centerposition CG) of fine movement stage 21.

In liquid crystal exposure apparatus 10 configured as described above,under control of the main controller that is not illustrated, mask M isloaded onto mask stage MST by a mask loader that is not illustrated andsubstrate P is loaded onto substrate stage PST by a substrate loaderthat is not illustrated. After that, the main controller executesalignment measurement using an alignment detection system that is notillustrated, and after the alignment measurement is completed, anexposure operation by a step-and-scan method is performed. Since thisexposure operation is similar to the exposure method by a step-and-scanmethod that has conventionally been performed, the descriptionthereabout is omitted.

As described above, in liquid crystal exposure apparatus 10 in theembodiment, base pads 72A and 72B are respectively placed on the twosurface plates 12A and 12B, and one step board 71 is supported by basepads 72A and 72B. Device main body 60 moves from above surface plate 12Ato above surface plate 12B (or inversely) by moving on step board 71,and therefore, the boundary section between adjacent surface plate 12Aand surface plate 12B that are placed separately does not function as aguide surface used when empty-weight cancelling device 40 moves in theY-axis direction. Accordingly, although the two surface plates 12A and12B are placed apart, empty-weight cancelling device 40 can be guidedalong the XY plane, which makes it possible to drive substrate P in theY-axis direction in a stable manner.

Further, since the surface plates are configured of the two members,each of surface plates 12A and 12B can be reduced in size. Accordingly,the materials (e.g. stone materials) for the surface plates can besecured without difficulty, and also the surface plates can be processedand carried without difficulty. Further, since surfaces plates 12A and12B can be placed apart, base frame 14B that supports X coarse movementstage 23X in a movable manner can be placed between the surface plates,which makes it possible to suppress the bending of the center portion ofX coarse movement stage 23X in the longitudinal direction.

Incidentally, there are no problems with the transportation (carriage)even if the surface plate is longer in one direction (e.g. a directioncorresponding to the X-axis in the embodiment above), and such increasein size in the one direction can be coped without difficulty byemploying the apparatus configuration similar to the embodiment above.Further, in the case when the surface plate is longer in the onedirection, three or more of the substrate stage mountings (33) can beplaced, or the surface plate can be divided into a plurality of surfaceplates also in the one direction so as to be placed in the onedirection.

Furthermore, since the configuration is employed in which device mainbody 60 of empty-weight cancelling device 40 moves on the step boardthat is a plate-shaped member placed so as to be bridged over theadjacent surface plates, the cost can be reduced compared to, forexample, the case when a plurality of empty-weight cancelling devicesare placed so as to correspond to a plurality (e.g. two in theembodiment above) of surface plates.

Further, since step board 71 moves in the Y-axis direction followingdevice main body 60, the size and weight of step board 71 can bereduced. Further, since the configuration is employed in which stepboard 71 is towed by drive ropes 80 a and 80 b, the structure can besimplified compared to the case of providing an actuator or the like.

Further, since a plurality (two in the embodiment above) of surfaceplates 12A and 12B are placed at a predetermined distance in the stepdirection during exposure, or more specifically, since there is nostitching between the plurality of surface plates in the scan direction,the upper surfaces of surface plates 12A and 12B function as a singleguide surface (similar to one surface plate having a single guidesurface) during the scanning operation, and therefore substrate P canstably be driven in the scan direction.

Incidentally, in the embodiment above, while the two surface plates arearrayed at a predetermined distance in the step direction (Y-axisdirection), this is not intended to be limiting, and for example, thethree or more surface plates can be arranged. In this case, it ispreferable that a base pad is placed on each of a plurality of surfaceplates and a step board that is longer in the Y-axis direction than thatof the embodiment above is placed so as to be bridged over a pluralityof base pads (i.e. in a state of lying astride a plurality of surfaceplates). Further, in the embodiment above, while the configuration inwhich the step board follows the device main body of the empty-weightcancelling device is employed, this is not intended to be limiting, andthe step board can be fixed (in such a case, the size in the Y-axisdirection needs to be longer than that of the embodiment above).Further, a plurality of surface plates can be arrayed at a predetermineddistance in the scan direction (X-axis direction).

Further, in the embodiment above, while the configuration is employed inwhich the base pads move in the Y-axis direction following the devicemain body, this is not intended to be limiting, and the base pads can beconfigured not movable in the Y-axis direction (but movable in theX-axis direction) by forming the base pads in a larger size than thethat of the embodiment. Further, in the embodiment above, while theconfiguration is employed in which the base pads are driven by thelinear motor, a configuration can also be employed in which the basepads are towed by a wire rope or the like in a similar manner to thecase of the step board. Further, while the configuration is employed inwhich the step board follows the device main body by being pulled by thewire rope, this is not intended to be limiting, and the step board canbe driven by, for example, an actuator such as a liner motor.Furthermore, in the embodiment above, while the configuration isemployed in which the empty-weight cancelling device moves in the X-axisdirection by being pressed by the X coarse movement stage, this is notintended to be limiting, and the empty-weight cancelling device can bedriven in the X-axis direction by an actuator such as a liner motor.Further, a plurality of base pads can be placed on one surface plate.

Further, the illumination light can be ultraviolet light, such as ArFexcimer laser light (with a wavelength of 193 nm) and KrF excimer laserlight (with a wavelength of 248 nm) or vacuum ultraviolet light such asF₂ laser light (with a wavelength of 157 nm). Further, as theillumination light, a harmonic wave, which is obtained by amplifying asingle-wavelength laser beam in the infrared or visible range emitted bya DFB semiconductor laser or fiber laser with a fiber amplifier dopedwith, for example, erbium (or both erbium and ytteribium), and byconverting the wavelength into ultraviolet light using a nonlinearoptical crystal, can also be used. Further, solid state laser (with awavelength of 355 nm, 266 nm) or the like can also be used.

Further, in the embodiment above, while the case has been describedwhere projection optical system PL is a projection optical system by amulti-lens method that is equipped with a plurality of projectionoptical units, the number of the projection optical units is not limitedthereto, but there should be one or more projection optical units.Further, projection optical system PL is not limited to the projectionoptical system by a multi-lens method, but can be, for example, aprojection optical system that uses a large-size mirror of the Offnertype.

Further, in the embodiment above, while the case has been describedwhere the projection optical system whose projection magnification is anequal magnification is used as projection optical system PL, this notintended to be limiting, and the projection optical system can be eitherof a reduction system or a magnifying system.

Incidentally, in the embodiment above, a light transmissive type mask isused, which is obtained by forming a predetermined light-shieldingpattern (or a phase pattern or a light-attenuation pattern) on a lighttransmissive mask substrate. Instead of this mask, however, as disclosedin, for example, U.S. Pat. No. 6,778,257, an electron mask (a variableshaped mask) on which a light-transmitting pattern, a reflectionpattern, or an emission pattern is formed according to electronic dataof the pattern that is to be exposed, for example, a variable shapedmask that uses a DMD (Digital Micromirror Device) that is a type of anon-emission type image display element (which is also called a spatiallight modulator) can also be used.

Incidentally, it is especially effective to apply the exposure apparatusof the present invention as in the embodiment above or the like to anexposure apparatus that exposes a substrate with a size (which includesat least one of an outer diameter, a diagonal line and a side) not lessthan 500 mm, for example, a large substrate for a flat-panel display(FPD), such as a liquid crystal display element. This is because thepresent invention has been made to cope with the increase in size ofsubstrates.

Further, in the embodiment above, while the case has been describedwhere the present invention is applied to a projection exposureapparatus that performs scanning type exposure that is accompanied by astep-and-scan operation of the plate, this is not intended to belimiting, and the present invention can also be applied to an exposureapparatus by a proximity method that does not use any projection opticalsystems. Further, the present invention can also be applied to anexposure apparatus by a step-and-repeat method (a so-called stepper) oran exposure apparatus by a step-and-stitch method.

Further, the use of the exposure apparatus is not limited to theexposure apparatus for liquid crystal display elements in which a liquidcrystal display element pattern is transferred onto a rectangular glassplate, but the present invention can also be widely applied, forexample, to an exposure apparatus for manufacturing semiconductors, andan exposure apparatus for producing thin-film magnetic heads,micromachines, DNA chips, and the like. Further, the present inventioncan be applied not only to an exposure apparatus for producingmicrodevices such as semiconductor devices, but can also be applied toan exposure apparatus in which a circuit pattern is transferred onto aglass substrate, a silicon wafer or the like to produce a mask or areticle used in a light exposure apparatus, an EUV exposure apparatus,an X-ray exposure apparatus, an electron-beam exposure apparatus, andthe like. Incidentally, an object that is subject to exposure is notlimited to a glass plate, but for example, can be another object such asa wafer, a ceramic substrate, a film member, or a mask blank. Further,the present invention can also be applied to an exposure apparatus suchas a liquid immersion type exposure apparatus in which a space between aprojection optical system and a wafer is filled with a liquid, which isdisclosed in, for example, U.S. Patent Application Publication No.2005/0259234 and the like, as an exposure apparatus to transfer acircuit pattern onto a silicon wafer or the like.

Further, as disclosed in, for example, PCT International Publication No.2001/035168, the present invention can also be applied to an exposureapparatus (a lithography system) in which line-and-space patterns areformed on a wafer by forming interference fringes on the wafer.

Incidentally, the present invention can be applied not only to theexposure apparatus but also to, for example, an element manufacturingapparatus equipped with a functional liquid imparting device by anink-jet method.

Incidentally, the above disclosures of all the publications, the PCTInternational Publications descriptions, and the U.S. Patent ApplicationPublications descriptions, and the U.S. Patents descriptions that arecited in the description above and related to exposure apparatuses andthe like are each incorporated herein by reference.

Device Manufacturing Method

A manufacturing method of a microdevice that uses exposure apparatus 10of the embodiment above in a lithography process is described next. Inexposure apparatus 10 of the embodiment above, a liquid crystal displayelement as a microdevice can be obtained by forming a predeterminedpattern (such as a circuit pattern or an electrode pattern) on a plate(a glass substrate).

Pattern Forming Process

First of all, a so-called optical lithography process in which a patternimage is formed on a photosensitive substrate (such as a glass substratecoated with a resist) is executed using exposure apparatus 10 describedabove. In this optical lithography process, a predetermined pattern thatincludes many electrodes and the like is formed on the photosensitivesubstrate. After that, the exposed substrate undergoes the respectiveprocesses such as a development process, an etching process and a resistremoving process, and thereby the predetermined pattern is formed on thesubstrate.

Color Filter Forming Process

Next, a color filter in which many sets of three dots corresponding to R(Red), G (Green) and B (blue) are disposed in a matrix shape, or a colorfilter in which a plurality of sets of filters of three stripes of R, Gand B are disposed in horizontal scanning line directions is formed.

Cell Assembling Process

Next, a liquid crystal panel (a liquid crystal cell) is assembled usingthe substrate having the predetermined pattern obtained in the patternforming process, the color filter obtained in the color filter formingprocess, and the like. For example, a liquid crystal panel (a liquidcrystal cell) is manufacture by injecting liquid crystal between thesubstrate having the predetermined pattern obtained in the patternforming process and the color filter obtained in the color filterforming process.

Module Assembling Process

After that, a liquid crystal display element is completed by attachingrespective components such as an electric circuit that causes a displayoperation of the assembled liquid crystal panel (liquid crystal cell) tobe performed, and a backlight.

In this case, since exposure of the plate is performed with highthroughput and high precision using the exposure apparatus of theembodiment above in the pattern forming process, the productivity ofliquid crystal display elements can be improved as a consequence.

While the above-described embodiment of the present invention is thepresently preferred embodiment thereof, those skilled in the art oflithography systems will readily recognize that numerous additions,modifications, and substitutions may be made to the above-describedembodiment without departing from the spirit and scope thereof. It isintended that all such modifications, additions, and substitutions fallwithin the scope of the present invention, which is best defined by theclaims appended below.

What is claimed is:
 1. A movable body apparatus, comprising: a substrateholding member that holds a substrate; a first supporting member thatsupports the substrate holding member from below and is movable relativeto the substrate holding member; a second supporting member thatsupports the first supporting member from below; a driver that moves thesubstrate holding member in a first direction; and a connecting memberthat connects the driver and the first supporting member, wherein thedriver moves the substrate holding member in the first direction, bymoving the first supporting member relative to the second supportingmember in the first direction, via the connecting member, in a statewhere the substrate holding member is supported from below by the firstsupporting member.
 2. The movable body apparatus according to claim 1,wherein the driver moves the substrate holding member in a seconddirection intersecting the first direction, by moving the secondsupporting member in the second direction, in a state where the secondsupporting member supports, from below, the first supporting member thatsupports the substrate holding member.
 3. The movable body apparatusaccording to claim 2, wherein the driver moves the substrate holdingmember in the second direction by pressing the second supporting member.4. The movable body apparatus according to claim 2, wherein the driverhas a first driver and a second driver, the first driver moving thesubstrate holding member in the first direction, and the second drivermoving the substrate holding member in the second direction in a stateof supporting the first driver, and the second driver is provided at aposition different from the second supporting member in the seconddirection.
 5. The movable body apparatus according to claim 4, whereinthe second driver is provided on both sides of the second supportingmember in the second direction.
 6. The movable body apparatus accordingto claim 1, wherein the connecting member connects the first supportingmember and the driver at a gravity center position of the movable bodyapparatus in a vertical direction.
 7. The movable body apparatusaccording to claim 1, further comprising: a first base that supports thesecond supporting member; and a second base that is provided at aposition different from the first base in the first direction, andsupports the driver.
 8. The movable body apparatus according to claim 4,wherein the second driver moves the substrate holding member in thesecond direction, in a state where the substrate holding member and thefirst supporting member are not moved relative to each other in thefirst direction.
 9. The movable body apparatus according to claim 8,further comprising: a restriction member that restricts a range in whichthe substrate holding member and the first supporting member are movablerelative to each other in the second direction.
 10. The movable bodyapparatus according to claim 1, wherein the substrate holding member iscoupled to the driver to be movable relative to the driver in a verticaldirection.
 11. The movable body apparatus according to claim 1, whereinthe driver has a fixed section and a movable section, the fixed sectionbeing provided along the first direction, and the movable section beingmovable relative to the fixed section in the first direction, and thesubstrate holding member is coupled to the movable section.
 12. Anexposure apparatus, comprising: the movable body apparatus according toclaim 1, in which the substrate is held by the substrate holding member;and a patterning device that irradiates the substrate on the substrateholding member with an energy beam.
 13. The exposure apparatus accordingto claim 12, wherein the patterning device exposes the substrate that isheld by the substrate holding member and scanned by the driver.
 14. Theexposure apparatus according to claim 12, wherein the substrate has asize not less than 500 mm.
 15. A device manufacturing method,comprising: exposing the substrate using the exposure apparatusaccording to claim 12; and developing the substrate that has beenexposed.
 16. A manufacturing method of a flat-panel display, comprising:exposing the substrate for a flat-panel display using the exposureapparatus according to claim 12; and developing the substrate that hasbeen exposed.
 17. A moving method of holding a substrate with asubstrate holding member and moving the substrate, the methodcomprising: supporting the substrate holding member from below using afirst supporting member so that the first supporting member is movablerelative to the substrate holding member; supporting the firstsupporting member from below using a second supporting member; movingthe substrate holding member in a first direction using a driver; andconnecting the driver and the first supporting member using a connectingmember, wherein in the moving, the substrate holding member is moved inthe first direction, by moving the first supporting member relative tothe second supporting member in the first direction, via the connectingmember, in a state where the substrate holding member is supported frombelow by the first supporting member.
 18. The moving method according toclaim 17, wherein in the moving, the substrate holding member is movedin a second direction intersecting the first direction, by moving thesecond supporting member in the second direction, in a state where thesecond supporting member supports, from below, the first supportingmember that supports the substrate holding member.
 19. The moving methodaccording to claim 18, wherein in the moving, the substrate holdingmember is moved in the second direction by pressing the secondsupporting member.
 20. The moving method according to claim 18, whereinin the moving, the substrate holding member is moved in the firstdirection using a first driver, and the substrate holding member ismoved in the second direction using a second driver that supports thefirst driver, the second driver being provided at a position differentfrom the second supporting member in the second direction.
 21. Themoving method according to claim 20, further comprising: disposing thesecond driver on both sides of the second supporting member in thesecond direction.
 22. The moving method according to claim 17, furthercomprising: supporting the second supporting member with a first base;and supporting the driver with a second base that is provided at aposition different from the first base in the first direction.
 23. Themoving method according to claim 20, wherein the substrate holdingmember is moved in the second direction using the second driver, in astate where the substrate holding member and the first supporting memberare not moved relative to each other in the first direction.
 24. Themoving method according to claim 23, further comprising: restricting arange in which the substrate holding member and the first supportingmember are movable relative to each other in the second direction. 25.The moving method according to claim 17, further comprising: couplingthe substrate holding member to the driver to be movable relative to thedriver in a vertical direction.
 26. The moving method according to claim17, further comprising: coupling the substrate holding member to amovable section that is movable in the first direction relative to afixed section provided along the first direction, the driver having thefixed section and the movable section.
 27. An exposure method,comprising: moving the substrate holding member that holds the substrateby the moving method according to claim 17; and exposing a pattern onthe substrate on the substrate holding member by irradiating thesubstrate with an energy beam.
 28. The exposure method according toclaim 27, wherein in the exposing, the substrate that is held by thesubstrate holding member and scanned by the driver is exposed.
 29. Adevice manufacturing method, comprising: exposing the substrate usingthe exposure method according to claim 27; and developing the substratethat has been exposed.
 30. A manufacturing method of a flat-paneldisplay, comprising: exposing the substrate for a flat-panel displayusing the exposure method according to claim 27; and developing thesubstrate that has been exposed.